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		<center><h3>Rigid Mapping</h3></center>
		
		<center><img src="TutorialMapping1DragonRigid.png" align="middle" width="300"></td>     </center>

		<div id="orangeText">Description:</div>
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                A rigid body (perfectly rigid) is an undeformable body. Because its  undeformable property, a rigid body composed 
		a set of particles ensures that the distance of any pair of points and the angle of any pair of vectors 
		remains constant in relation to time. Rigid bodies in SOFA are presented by different models (Visual Model,
		 Collision Model, Behaviour Model) ensuring their appropriate task. These models are related by a mapping 
		(rigid mapping in this case).
	

		<div id="orangeText">Key points:</div>
                <ul>
                  <li>Model Behaviour Rigid : Position and orientation (quaternion) of the center(s) of mass.</li>
                  <li>Model Collision Rigid : A set of particles used for computing the collision with other objects.</li>
				  <li>Model Visual Rigid : A set of particles used for visualizing.</li>
                </ul>
	    <center>
		  <table border="0">
			<tr><td><img src="TutorialMappingDragonRigid_Behavior.png" align="middle" width="300"></td></tr>
			<tr><td align="center">Behavior Model</td></tr>
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		  <table border="0">
			<tr><td><img src="TutorialMappingDragonRigid_Visual.png" align="middle" width="300"></td></tr>
			<tr><td align="center">Visual Model</td></tr>
		  </table>
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		<div id="orangeText">Results </div>
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		  <table border="0">
			<tr><td><img src="TutorialMapping2DragonRigid.png" align="middle" width="300"></td></tr>
			<tr><td align="center">Behavior-Colision</td></tr>
		  </table>
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		<div id="orangeText">See also : </div>
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			<a href="DeformableOnRigidFrameMapping.html">DeformableOnRigidFrameMapping, </a>
			<a href="TutorialMappingIdentity.html">IdentityMapping, </a>
			<a href="TutorialMappingSkinning.html">SkinningMapping.</a>
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